/* 
 * File:   PID.h
 * Author: Rolf
 *
 * Created on 22. janvier 2014, 22:39
 */

#ifndef PID_H
#define	PID_H

extern float K;
extern float Kp;
extern float Ki;
extern float Kd;

#define DEFAULT_K  1.1
#define DEFAULT_KP 5.0
#define DEFAULT_KI 1.3
#define DEFAULT_KD -1.8

int constrain(int x,int y, int z);
int updatePid(int targetPosition, int currentPosition);

void ResetPID(void);

#endif	/* PID_H */

